A double pendulum with equal masses and equal lengths swings i
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Transcribed Image Text:A double pendulum with equal masses and equal lengths swings in a
vertical plane as shown in the figure.
3.
a. Determine the Lagrangian of the system in terms of the generalized
coordinates, 01 and 02.
b. Find the equations of motion of the objects for small oscillations.
c. Determine the normal mode frequencies of oscillation.
d. Find the normal modes of oscillation.
Hint:
The total angular speed squared for the lower object is Ôg´ = 0,“ + Ôz´ + 2 Ò¿ O2 cos(8, – 6,)
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